#### Table of Content

25 June 2000, Volume 20 Issue 03
 Composite Adaptive Control for Space Manipulators Wang Jing Wang Haoying Liu Liangdong Liang Bin (Beijing Institute of Control Engineering, Beijing 100080) 2000, 20 (03):  .  Abstract ( 1614 )   For the space manipulator with an attitude-controlled base, the parameters of the adaptive control is generally driven by tracking errors. But except of tracking errors, the prediction errors also include parameter information. The detailed analysis of the dynamic characteristics of the space manipulator with an attitude-controlled base is provided, the prediction model for the system is developed, and a composite adaptive control algorithm in which the parameters is driven by both tracking errors and prediction errors is presented. Results on global asymptotic and quick tracking convergence are established and confirmed by simulation.
 Kinematic Singularity and its Research Progress in Single Gimbal Control Moment Gyroscope Systems Wu Zhong Wu Hongxin (Beijing Institute of Control Engineering,Beijing 100080) Chou Wusheng (Beijing University of Aeronautics and Astronautics,Beijing 100083) 2000, 20 (03):  .  Abstract ( 1539 )   The kinematic singularity principle of Single Gimbal Control Moment Gyroscope (SGCMG) systems is introduced and the survey of research progress in kinematic singularity is made.It is concluded that recognization of the singular principle is too simple to meet the need of nonsingular steering in SGCMG systems at present.It is pointed out that distribution and avoidability of singular points in gimbal space will be the main focus in the future.